module Syskit::Test::Self

# File lib/syskit/test/self.rb, line 96
def assert_is_proxy_model_for(models, result)
    srv = nil
    proxied_models = Array(models).map do |m|
        if m.kind_of?(Syskit::Models::BoundDataService)
            srv = m
            m.component_model
        else m
        end
    end
    expected = Syskit.proxy_task_model_for(proxied_models)
    if srv
        expected = srv.attach(expected)
    end
    assert_equal expected, result, "#{result} was expected to be a proxy model for #{models} (#{expected})"
end

# File lib/syskit/test/self.rb, line 18
def data_dir
    File.join(SYSKIT_ROOT_DIR, "test", "data")
end

# File lib/syskit/test/self.rb, line 127
def data_service_type(name, &block)
    DataService.new_submodel(:name => name, &block)
end

# File lib/syskit/test/self.rb, line 65
def plug_apply_requirement_modifications
    @syskit_handler_ids[:apply_requirement_modifications] ||= execution_engine.
        add_propagation_handler(type: :propagation, late: true,
                                &Runtime.method(:apply_requirement_modifications))
end

# File lib/syskit/test/self.rb, line 74
def plug_connection_management
    @syskit_handler_ids[:connection_management] ||= execution_engine.
        add_propagation_handler(type: :propagation, late: true,
                                &Runtime::ConnectionManagement.method(:update))
end

# File lib/syskit/test/self.rb, line 22
def setup
    @old_pkg_config = ENV['PKG_CONFIG_PATH'].dup
    Roby.app.app_dir = nil
    Roby.app.search_path.clear
    Roby.app.filter_backtraces = false
    ENV['ROBY_PLUGIN_PATH'] = File.expand_path(File.join(File.dirname(__FILE__), '..', 'roby_app', 'register_plugin.rb'))
    Roby.app.using 'syskit', force: true
    Syskit.conf.export_types = false
    Syskit.conf.disables_local_process_server = true
    Syskit.conf.only_load_models = true
    self.syskit_stub_resolves_remote_tasks = true

    super

    if !Orocos.initialized?
        Orocos.allow_blocking_calls { Orocos.initialize }
    end
    execution_engine.scheduler = Roby::Schedulers::Temporal.new(true, true, plan)
    execution_engine.scheduler.enabled = false

    @robot = Syskit::Robot::RobotDefinition.new

    @syskit_handler_ids = Hash.new
    @syskit_handler_ids[:deployment_states] = execution_engine.
        add_propagation_handler(type: :external_events,
                                &Runtime.method(:update_deployment_states))
    @syskit_handler_ids[:task_states] = execution_engine.
        add_propagation_handler(type: :external_events,
                                &Runtime.method(:update_task_states))
    plug_connection_management
    unplug_apply_requirement_modifications

    if !Syskit.conf.disables_local_process_server?
        Syskit::RobyApp::Plugin.connect_to_local_process_server
    end

    Syskit.conf.register_process_server(
        'stubs', Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader, task_context_class: Orocos::RubyTasks::StubTaskContext), "", host_id: 'syskit')
    Syskit.conf.logs.create_configuration_log(File.join(app.log_dir, 'properties'))

    Orocos.forbid_blocking_calls
end

# File lib/syskit/test/self.rb, line 83
def teardown
    Orocos.allow_blocking_calls

    plug_connection_management
    ENV['PKG_CONFIG_PATH'] = @old_pkg_config
    super

ensure
    if @syskit_handler_ids && execution_engine
        Syskit::RobyApp::Plugin.unplug_engine_from_roby(@syskit_handler_ids.values, execution_engine)
    end
end

# File lib/syskit/test/self.rb, line 70
def unplug_apply_requirement_modifications
    execution_engine.remove_propagation_handler(@syskit_handler_ids.delete(:apply_requirement_modifications))
end

# File lib/syskit/test/self.rb, line 79
def unplug_connection_management
    execution_engine.remove_propagation_handler(@syskit_handler_ids.delete(:connection_management))
end